Honda Motor Co., Ltd.

Takayasu Kumano

Kazuma Ohara

Suguru Yanagihara

Takuya Niioka

Yuji Yasui

Yuki Motegi

Keisuke Oka

Aditya Mahajan

A vehicle control method includes recognizing an object, generating a target trajectory of a vehicle, and automatically controlling driving of the vehicle on the basis of the target trajectory, calculating a region between a first virtual line, which passes through a reference point using the vehicle as a reference and a first point present in the vicinity of an outer edge of the object, and a second virtual line, which passes through the reference point and a second point present in the vicinity of the outer edge of the object, as a region through which the vehicle should avoid to travel, and excluding the target trajectory present in the traveling avoidance region, and automatically controlling the driving of the vehicle on the basis of a remaining target trajectory remained without being excluded.

Vehicle control method, vehicle control device, and storage medium

A vehicle control device in an embodiment includes a recognition unit that recognizes a surrounding situation of a vehicle and a driving control unit that controls one or both of steering and acceleration or deceleration of the vehicle on the basis of the surrounding situation recognized by the recognition unit, and in a case where the vehicle merges into a second lane from a first lane in which the vehicle travels, and a section of the second lane before merging recognized by the recognition unit is downhill, the driving control unit makes a speed or acceleration of the vehicle higher than in a case where the section before merging is not downhill.

Vehicle control device, vehicle control method, and storage medium

A vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle including a predetermined object located near the vehicle; and a driving controller configure to control steering and a speed of the vehicle. The driving controller controls the speed of the vehicle such that the vehicle passes the predetermined object at a greater speed when the vehicle passes the predetermined object which is located ahead in a traveling direction of the vehicle and is moving in an opposite direction to the traveling direction of the vehicle than a speed when the vehicle passes the predetermined object which is located ahead in the traveling direction of the vehicle and is moving in the same direction as the traveling direction of the vehicle.

A vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle; and an action controller configured to control an action of the vehicle. The action controller is configured to specify a first vehicle in front of a region which the vehicle is scheduled to enter and a second vehicle behind the region according to inter-vehicle distances between a plurality of vehicles located in front of or on the side of the vehicle in a lane of a route changing destination recognized by the recognizer when a route of the vehicle is changed to a side. The action controller is configured to cause the vehicle to move to a vicinity of the specified first and second vehicles in a lane in which the vehicle is traveling.

A first specifying unit specifies a first possible space, for which a lane change of a vehicle is possible, from an inter-vehicle distance between a first preceding other vehicle and the vehicle, a speed of the first preceding other vehicle, and a speed of the vehicle. A second specifying unit specifies a second possible space, for which the lane change of the vehicle is possible, from an inter-vehicle distance between a second preceding other vehicle and a following other vehicle, a speed of the second preceding other vehicle, and a speed of the following other vehicle. A judgment unit judges, based on the first possible space and the second possible space, whether the lane change of the vehicle is possible.

Traveling control apparatus, traveling control method, and non-transitory computer-readable storage medium storing program

An estimation unit, if an acquisition unit acquires, as information outside a vehicle, information of a following other vehicle that is a vehicle traveling on a lane different from a traveling lane of the vehicle and is traveling behind the vehicle and information of a preceding other vehicle that is traveling ahead the vehicle and the following other vehicle, estimates, based on a behavior of the following other vehicle to the preceding other vehicle and a behavior of the following other vehicle to the vehicle, whether the behavior of the following other vehicle allows a lane change of the vehicle to enter between the preceding other vehicle and the following other vehicle.

A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle and a driving controller configured to control acceleration, deceleration, and steering of the vehicle independently of an operation of an occupant of the vehicle on the basis of a recognition result of the recognizer. When it is recognized that the vehicle passes through a complex intersection where two or more intersections are combined by turning left or right at the complex intersection, the recognizer excludes at least a traffic signal closest to the vehicle among traffic signals present at positions capable of being visually recognized from the vehicle in a traveling direction of the vehicle from traffic signals whose states are required to be taken into account by the vehicle in a state in which the vehicle has entered the complex intersection.

A traffic guide object recognition device includes an imager configured to image surroundings of a vehicle and a recognizer configured to recognize surrounding circumstances of the vehicle. The recognizer selects a traffic guide object which the vehicle is to follow on the basis of forms of traffic guide objects in an image captured by the imager out of traffic guide objects which are provided near the vehicle.

Traffic guide object recognition device, traffic guide object recognition method, and storage medium

A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle, a determiner configured to determine that entry into an intersection is allowed, on the basis of a certain determination condition, when the recognizer has recognized that there is the intersection ahead of the vehicle, a driving controller configured to cause the vehicle to enter the intersection when the determiner has determined that the entry into the intersection is allowed, and a condition changer configured to change the determination condition to a condition under which it is easier for the entry into the intersection to be determined to be allowed in a case in which the intersection recognized by the recognizer is a circular intersection, in comparison with a case in which the intersection recognized by the recognizer is another intersection different from the circular intersection.

Growing community of inventors

Wako, Japan

Takayasu Kumano